thermal calibrtation: do not calibrate sensor without temperature sensor

src/modules/temperature_compensation/temperature_calibration/accel.cpp

@@ -87,6 +87,13 @@ int TemperatureCalibrationAccel::update_sensor_instance(PerSensorData &data, int
 		return 0;
 	}
 
+	if (PX4_ISFINITE(accel_data.temperature)) {
+		data.has_valid_temperature = true;
+
+	} else {
+		return 0;
+	}
+
 	data.device_id = accel_data.device_id;
 
 	data.sensor_sample_filt[0] = accel_data.x;
@@ -167,6 +174,14 @@ int TemperatureCalibrationAccel::finish()
 
 int TemperatureCalibrationAccel::finish_sensor_instance(PerSensorData &data, int sensor_index)
 {
+	if (!data.has_valid_temperature) {
+		PX4_WARN("Result Accel %d does not have a valid temperature sensor", sensor_index);
+
+		uint32_t param = 0;
+		set_parameter("TC_A%d_ID", sensor_index, &param);
+		return 0;
+	}
+
 	if (!data.hot_soaked || data.tempcal_complete) {
 		return 0;
 	}

src/modules/temperature_compensation/temperature_calibration/baro.cpp

@@ -87,6 +87,13 @@ int TemperatureCalibrationBaro::update_sensor_instance(PerSensorData &data, int
 		return 0;
 	}
 
+	if (PX4_ISFINITE(baro_data.temperature)) {
+		data.has_valid_temperature = true;
+
+	} else {
+		return 0;
+	}
+
 	data.device_id = baro_data.device_id;
 
 	data.sensor_sample_filt[0] = 100.0f * baro_data.pressure; // convert from hPA to Pa
@@ -163,6 +170,14 @@ int TemperatureCalibrationBaro::finish()
 
 int TemperatureCalibrationBaro::finish_sensor_instance(PerSensorData &data, int sensor_index)
 {
+	if (!data.has_valid_temperature) {
+		PX4_WARN("Result baro %d does not have a valid temperature sensor", sensor_index);
+
+		uint32_t param = 0;
+		set_parameter("TC_B%d_ID", sensor_index, &param);
+		return 0;
+	}
+
 	if (!data.hot_soaked || data.tempcal_complete) {
 		return 0;
 	}

src/modules/temperature_compensation/temperature_calibration/common.h

@@ -146,6 +146,10 @@ public:
 			float min_diff = _min_temperature_rise;
 
 			for (unsigned uorb_index = 0; uorb_index < _num_sensor_instances; uorb_index++) {
+				if (!_data[uorb_index].has_valid_temperature) {
+					return 110;
+				}
+
 				float cur_diff = _data[uorb_index].high_temp - _data[uorb_index].low_temp;
 
 				if (cur_diff < min_diff) {
@@ -171,6 +175,7 @@ protected:
 		/// verified and the starting temperature set
 		bool hot_soaked = false; ///< true when the sensor has achieved the specified temperature increase
 		bool tempcal_complete = false; ///< true when the calibration has been completed
+		bool has_valid_temperature = false; ///< true if this sensor has temperature sensor
 		float low_temp = 0.f; ///< low temperature recorded at start of calibration (deg C)
 		float high_temp = 0.f; ///< highest temperature recorded during calibration (deg C)
 		float ref_temp = 0.f; /**< calibration reference temperature, nominally in the middle of the

src/modules/temperature_compensation/temperature_calibration/gyro.cpp

@@ -74,6 +74,13 @@ int TemperatureCalibrationGyro::update_sensor_instance(PerSensorData &data, int
 		return 0;
 	}
 
+	if (PX4_ISFINITE(gyro_data.temperature)) {
+		data.has_valid_temperature = true;
+
+	} else {
+		return 0;
+	}
+
 	data.device_id = gyro_data.device_id;
 
 	data.sensor_sample_filt[0] = gyro_data.x;
@@ -154,6 +161,15 @@ int TemperatureCalibrationGyro::finish()
 
 int TemperatureCalibrationGyro::finish_sensor_instance(PerSensorData &data, int sensor_index)
 {
+	if (!data.has_valid_temperature) {
+		PX4_WARN("Result Gyro %d does not have a valid temperature sensor", sensor_index);
+		data.tempcal_complete = true;
+
+		uint32_t param = 0;
+		set_parameter("TC_G%d_ID", sensor_index, &param);
+		return 0;
+	}
+
 	if (!data.hot_soaked || data.tempcal_complete) {
 		return 0;
 	}